Cleaning unit with base station and process for treating floors

ABSTRACT

A unit for treating floors has a motor-driven mobile device and a base station for replenishing the mobile device. The base station has an additional motor-driven transporting device for moving the mobile device into and out of the base station. A process for treating floors with the unit is also provided.

CROSS-REFERENCE TO RELATED APPLICATION

This is a continuing application, under 35 U.S.C. § 120, of copendingInternational Application No. PCT/EP2003/012961, filed Nov. 19, 2003,which designated the United States; this application also claims thepriority, under 35 U.S.C. § 119, of German Patent Application 102 56089.7, filed Dec. 2, 2002; the prior applications are herewithincorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a unit for treating floors. Theinvention relates in particular to cleaning floors, but also to othertreatment procedures, such as coating with liquid maintenance productsor other treatment fluids. The invention is aimed at a unit, which onone hand has a motor-driven device, referred to below as a mobiledevice, that performs the actual treatment, and on the other hand has abase station, serving to replenish the mobile device at specificdistances covered. The mobile device is therefore motor-driven over thefloor area to be treated and returns at specific distances to the basestation to be regenerated. The invention also relates to a process fortreating floors.

Such installations, wherein the mobile device carries out cleaningtasks, are known per se.

SUMMARY OF THE INVENTION

It is accordingly an object of the invention to provide a cleaning unitwith a base station and a process for treating floors, which overcomethe disadvantages of the heretofore-known devices and processes of thisgeneral type and solves the technical problem of providing a technicallyimproved unit of this type.

With the foregoing and other objects in view there is provided, inaccordance with the invention, a unit for treating floors. The unitcomprises a motor-driven mobile device and a base station forreplenishing the mobile device. The base station has a motor-driventransporting device for transporting the mobile device into the basestation for replenishing the mobile device and for transporting themobile device out of the base station.

With the objects of the invention in view, there is also provided aprocess for treating floors with a unit. The process comprisestransporting the mobile device according to the invention into the basestation with the motor-driven transporting device of the base station,for replenishing the mobile device. The mobile device is transported outof the base station with the motor-driven transporting device of thebase station.

Preferred embodiments of the invention are recited in the dependentclaims and in the following description. The invention also relates to amethod for treating floors. However, in the following description, thereis no individual distinction made between the device and the process ofthe invention, so that the entire disclosure is to be understood withrespect to both categories.

The principle underlying the invention therefore resides in equippingthe base station with a motor device for transporting the mobile devicein and out, even though the mobile device itself is motor-driven. Incontrast to conventional units, in which the mobile device moves throughthe use of its drive to the base station and “parks” for example on orunder corresponding terminals for regenerating, the base stationaccording to the invention is fitted with its own motor mechanism, thatis the transporting device. In this way the mobile device is broughtinto a specific position, with respect to the structural configurationof the base station and the structural configuration of the mobiledevice and its drive itself, without consideration having to be made tothe fact that the mobile device has to reach the appropriate positionthrough the use of its own drive. By way of example, the transportingdevice of the base station according to the invention can also raise themobile device, for which its drive unit will in many cases not be in astanding position. In addition, the transporting device in the basestation, if desired or required, can apply relatively large forces,which the motor drive unit of the mobile device, powered for example byan electric storage battery or the like, cannot apply or can apply onlyif this drive is in an unnecessarily spacious configuration.

The mobile device preferably has a wiping cloth, with which it wipes thefloor for cleaning or for other reasons. The replenishing preferablyincludes the cleaning of the wiping cloth or the exchange of the wipingcloth for a cleaned or a new wiping cloth. The term “wiping cloth” is tobe understood in a very general sense and can include all possiblefiber-based flat products, with which a floor can be wiped. These cantherefore be non-woven fabrics, rags, lapped or paper-like textiles andthe like.

According to one embodiment of the invention, the base station containsan oblique plane, on which replenishing of the mobile device takes placeand to which the mobile device is thus brought by the transportingdevice. The oblique plane can ensure better access to the underside ofthe mobile device and facilitate cleaning or exchange of a wiping clothor any other replenishing.

The motor-driven transporting device of the base station contains atleast one and preferably two levers, constructed to grip the mobiledevice. The gripped mobile device is then pulled into or lifted into thebase station by the lever.

The lever or the two levers are preferably fitted with a mechanism,which latches onto correspondingly constructed recesses of the mobiledevice, when the latter is gripped. In the process, the locking shouldpreferably be released in the base station in the further course oftransport of the mobile device, so that the lever can also act to guidethe transporting in the base station after the locking is released.

The lock mechanism can be a spring-loaded pin coupling, for example. Thejoining pins can engage behind a corresponding recess and lock onto anundercut. The joining pins are preferably provided on the levers and therecess with the undercut on the mobile device. The spring-loaded joiningpins can be released from the locking by a further mechanical device inthe base station, or by an oblique plane on the device of the basestation with the undercut. The pins can run up over the oblique planewhen correspondingly directed forces are exerted. The pins can, forexample, subsequently run along in a groove without a further undercutto thus serve as a guide.

The base station preferably cleans the mobile device as follows: thebase station guides the mobile device over a squeezing roller, throughthe use of which the cleaning fluid still contained in a wiping cloth orpreviously applied for cleaning the wiping cloth is pressed out of thewiping cloth, so that any associated dirt is removed at the same time.In the same manner, this applies also for pressing out the treatmentfluids, which do not contribute to the cleaning. The squeezing roller ispressed onto the mobile device with a preferably adjustable pressure.The squeezing roller can, for example, be mounted eccentrically or theguide mechanisms for the mobile device can be adjustable relative to thesqueezing roller.

It is also preferred to newly moisten the wiping cloth with a cleaningfluid or other fluid following this pressing out step. According to aparticular embodiment, cleaning fluid is used, which is reused in thebase station, and was therefore squeezed out or expressed at an earlierpoint in time. At the same time, the base station can have a filter, inparticular a continuous operation filter, for the cleaning fluid.

The new moistening can firstly also serve through renewed squeezing outor expressing to repeat and improve the cleaning. Secondly, it can bedesired to dampen the wiping cloth prior to fresh wiping of the floor orto actually wet it. It is preferred, in particular, that the cleaningunit also be able to carry out a two-stage or multi-stage wipingprocedure, in that the mobile device first wipes relatively wet and thenabsorbs the fluid still on the floor.

Furthermore, the base station can be fitted with an additional deviceenabling a wiping cloth to be exchanged. The wiping cloth is taken outof an adhesive closure (a so-called inclined closure or the like) on themobile device. At this point, further work is carried out by using arespective new or cleaned wiping cloth, re-applied to the adhesiveclosure. This happens automatically with the base station in thisparticular embodiment.

With the unit according to the invention, the degree of dirtiness orsoiling of the floor to be cleaned, of the used wiping cloth, of thecleaning fluid in the base station and/or of the filter for the cleaningfluid, can be measured and monitored. That preferably takes placethrough the use of respective optical or opto-electronic measures.

The invention is aimed in particular also at a mobile device for wipingflat surfaces, in which the drive unit lies inside a web width detectedor covered by the wiping surface during movement of the device by thedrive unit.

The drive unit is therefore disposed inside a web width covered ordetected by the wiping in the configuration according to the invention.This means in particular that the drive unit does not interfere outsidethe covered or detected web width during wiping, if the wiping is to bedone, for example, right along a floor edge. The invention enables thisedge to be approached by the wiping surface at a relatively smalldistance or even without wiping such a distance, because the drive, forexample a wheel running between the web width covered or detected bywiping and the floor edge as drive component, is disposed inside thecovered or detected web width.

At the same time the drive unit will to a considerable extent lie abovethe surface to be wiped. In particular, the drive unit is preferablydisposed over the wiping surface. However, in principle, it can also bedisposed before or behind the wiping surface, as seen in the directionof movement, as long as it remains in the web width.

The invention therefore also offers the possibility to provide arelatively wide wiping surface in relation to the size of the devicesubstantially also determined by the drive unit.

The wiping device according to the invention preferably has narrow andlong outer measurements in terms of a projection onto the surface to bewiped, and therefore a clearly greater dimension in one direction thanin a second direction perpendicular thereto. The ratio of the dimensionsof the longest and the narrowest side is preferably at least 2:1, andbetter still at least 2.5:1 and in the most favorable case at least 3:1.A preferred basic form of the device in projection onto the surface tobe wiped is a long, narrow rectangle. Long, narrow external dimensionson one hand allow a relatively great web width in the case of a notaltogether large device on the other hand. In particular, the device canbe inserted very flexibly when threaded through narrow passages or whentight corners are being wiped out.

It is further preferred that the above-mentioned external dimensions ofthe device be determined by the wiping surface, so the wiping surfacetherefore forms the edges of the device in the plane of the surface tobe wiped or at least substantially corresponds to the latter. At thesame time it can be optionally provided that the wiping surface thusprojects over an exchangeable wiping application, on one or more sidesthrough other parts of the device, and thus for one enables particularlythorough wiping along floor edges and secondly forms a protectiveimpulse edge. Other impulse edges can also naturally be provided, whichare not formed by the wiping surface itself. In particular, impulseedges equipped with sensory properties can also be provided to directautomatic control of the wiping device to strike an obstacle and thuscause corresponding control reactions.

When it is operating, the wiping device moves forwards preferably insuch a way that during a wiping motion one and the same longitudinalside points forwards. Therefore, the maximal possible web width is usedfor wiping on one hand and on the other hand the dirt collected duringthis cleaning is pushed before it. This preferably also applies duringand after curved trajectories, so that the wiping device does not leavebehind any wiping streaks in corners or curves. In particular, in a forexample right-angled corner of a floor, first the wiping device can movewith the above-mentioned longitudinal side as far as the skirting boardor molding at the opposite edge, then return, rotate about 90° in thedirection of the future direction of travel (so that the describedlongitudinal side now points forwards in the future direction oftravel), can move in this rotated position along the edge back to thecorner in order to then move on out of the corner in the new directionof travel. At the same time, travel with a forward lying longitudinalside into the corner would be transferred to travel with the sameforward lying longitudinal side out of the corner in the new directionof movement.

It can further be provided that as it operates, the wiping surface movesin an oscillating manner relative to the remaining device, for exampleswings or circles relative to a base of the device in one or even in two(horizontal or vertical) directions. Thus the mechanical effect on thefloor can be increased, without the same path having to be coveredrepeatedly.

A further structure of the invention provides for equipping the wipingdevice with a wiping surface not only on one side, but on two oppositesides. The device can then be used by the intervention of an operator orself-acting to move on the second wiping surface.

It is also preferred for the wiping surface to be continuous, andtherefore form a coherent surface in the mathematical sense. In additionthereto, it is preferably closed in the direction of movement behind theparts of the drive which are in contact with the floor, so that notraces are left by wheels, drive belts and the like. Such wheels orbelts are therefore preferably provided inside the wiping surface orrespectively in front of the latter in the direction of movement or apart thereof.

The invention also focuses on an improved drive unit for moving thedevice over a surface, having a motor-driven inertial mass movablerelative to a base of the device and constructed to drive the device bymoving the inertial mass relative to the base. This occurs in such a waythat during a part of these movements static friction holding the deviceon the surface is overcome by mass inertia or reactance of the inertialmass and during another part of these movements this does not occur, sothat the movements of the inertial mass relative to the base arealtogether iterative.

In an inertial drive according to the invention, mass inertia orreactance forces which are utilized occur due to relative movementsbetween an inertial mass and a base that to a certain degree forms asolid constituent of the device. These mass inertia or reactance forcesin certain phases result in overcoming static friction holding thedevice to the surface, on which it is to move. In other phases, however,the mass inertia or reactance forces should not overcome the staticfriction. Movement phases and adhesion phases will be discussed below insimplified form. Depending on the application system, inertial forces,which partly move the base and partly adhere to the surface, aretherefore transferred to the latter through the movements of theinertial mass. Otherwise expressed, the movements of the inertial masslead to a reaction of the base, because the entire system is constructedto correspond to the conservation of momentum. The conservation ofmomentum, however, is disturbed by the friction between the device andthe surface. In the adhesion phases the base remains on the surface,while in the movement phases it describes a movement on the surface.This is preferably a sliding or skidding movement, and withcorresponding static friction in the adhesion phases in wheel bearingsor between wheel surfaces and the surface during the movement phases,however, it could also be a roll-away movement.

Due to the movements of the inertial mass relative to the base beingiterative, therefore being repeated and thus enabling continuedmovement, a drive concept is created requiring no direct form-locking orforce-locking between drive components and the surface, on which thedevice is to be moved. A form-locking connection is one which connectstwo elements together due to the shape of the elements themselves, asopposed to a force-locking connection, which locks the elements togetherby force external to the elements.

At the same time the aim can be in particular for the wiping device toexclusively contact the surface to be wiped with the wiping surface,because no wheels, drive belts or the like have to be employed.

For the sake of clarification it should still be pointed out that theinertial mass is a device component and should not be utilized by thedrive concept according to the invention. An energy coupling isnecessary to generate the movement. However, the inertial mass should assuch remain intact in contrast to recoil propulsion such as, forexample, rocket drives or nozzle drives.

The invention thus enables sliding or rolling progression withoutcoupling between the drive unit and the transport surface. This can, forexample, be of interest if form-locking or force-locking with thetransport surface can only be made with difficulty, on completely smoothsurfaces, or if there is not supposed to be any contact between thedrive unit and the surface with the cleaning device according to theinvention.

There are different basic possibilities for the type of movement betweenthe inertial mass and the base. For one, linear movements areconceivable, in which the inertial mass therefore is moved iterativelyback and forth. Through corresponding powerful acceleration ordeceleration, inertial forces can be generated, which are above athreshold determined by static friction. In the case of lesseracceleration and deceleration, the device remains inside the staticfriction limits, so that the inertial mass can be retracted in favor ofa fresh movement phase of the device.

In this context it can be of particular interest to provide, in additionto the actual motor drive unit of the inertial mass, energy storage, inparticular a mechanical spring, which is charged and discharged withenergy during the linear movements of the inertial mass, synchronouslyto these movements. Firstly, at least portions of the energy used by themotor drive unit can be recovered. Secondly, for example, theacceleration phase provided to overcome the static friction can berelieved by correspondingly large forces by the energy storage and themotor drive unit itself can serve purely as a return mechanism. Thus thedrive unit could press the inertial mass against the spring force and atthe same time stress the spring, at which point the drive unit isswitched off and the spring is allowed to accelerate the inertial massrelatively strongly.

Furthermore, rotary movements between the inertial mass and the base arepossible. Circular movements are preferred in this case. With rotary andin particular with circular movements, there are two possible cases,which might also occur jointly in principle. Firstly, the actualconservation of momentum in the sense of linear impulses, and thereforein the sense of centrifugal force, can be utilized. Secondly, theangular conservation of momentum can also be utilized, wherein the basedescribes an angular momentum whenever the angular momentum of theinertial mass is altered. In the event of linear conservation ofmomentum in the foreground, the inertial mass is disposed eccentricallywith respect to the rotary movement. If the angular conservation ofmomentum is to the fore, the inertial mass will lie concentrically withrespect to the rotary intrinsic rotation. In each case herein theinertial mass is understood as the center of gravity and not necessarilyin its corporeal form. In the first case, therefore, for example,increased acceleration of the inertial mass could be used in specificpath regions, as in non-circular paths such as sun-wheel paths or planetwheel paths, and in the second case, for example, by way of contrastwith a change in direction of a concentric rotation of the inertial massof the angular momentum acting on the base. In both cases a “jolt” tothe base can be generated, which overcomes the static friction for aspecific movement phase.

In any event, according to the invention, it is not absolutelynecessary, or even preferred, that the movement phases, and thereforethe “jerking movements of the base” caused by the inertial masses alwayssubstantially act in the same direction (including acting in the samedirection in the sense of rotary movements). In principle, there arealso cases conceivable, where static friction is also overcome withinthe scope of “retrograde movement”, which however altogether lead to alesser rearwards movement than the desired forward movement. By way ofexample, the inertia drive could also overcome the static friction limitwith inertial forces basically acting in the wrong direction. If thestatic friction limit in the desired direction is overcome for a longertime or at a greater speed, this does not in principle always stand inthe way of progressive motion according to the invention.

It is also particularly preferred to use components of the utilizedinertial forces to make use of the static friction between the deviceand the surface, on which it is to move. Through a correspondingconfiguration of movements, in particular their inclination, the devicecan become heavier or lighter, namely timewise and possibly alsoplacewise. In precise terms, the device is therefore pressed onto thesurface by corresponding inertial forces or relieved in gravity. It ispossible, in addition to or alternatively to, the above-mentioned use ofparticularly large inertial forces in specific movement phases, todifferentiate between movement phases and adhesion phases. By way ofexample, constant inertial forces in the movement phases can lead tosliding of the device by components acting against gravitational forceand in adhesion phases can lead to sticking by components workingparallel to gravitational force.

The use of at least two inertial masses in the above sense is ofparticular preference. In addition to the above-mentioned aspects, thisallows a skilful combination of the respective inertial forces andphasewise addition or compensation, respectively. By way of example, twoinertial masses with eccentric centers of gravity moving in a circle canmove in opposite directions and synchronously, so that their inertialforces compensate twice per full revolution and add twice per fullrevolution. Through additional tilting of the planes of rotation in thephases of addition in one case, gravitation-parallel inertial forcecomponents and in another case gravitation-antiparallel inertial forcecomponents, can be created, so that the device moves jerkily only or atleast more strongly in the latter case.

The inertial masses are preferably suspended cardanically on the base inthe case of rotary components. This can serve to tilt the rotationplanes in the above-described sense. Furthermore, through correspondingadjustment of the cardanic suspension in contrast to a fixedunchangeable tilting, matching to the size of the static friction canalso occur between the device and the surface, and in addition possiblynecessary compensation of direction dependence of this static friction,for example with aligned wiping cloths. The cardanic suspension isadjusted preferably by motor and at the same time in particular can alsooccur automatically, in that to a certain degree the device tests thecommencement of the movement phase and is adjusted according to givenrotation movements by adapting the tilting automatically to optimaladvance drive.

In the case of an inertia drive using linear conservation of momentum,and therefore centrifugal force as well, it is preferred that the devicemove over the surface in stages with translatory individual steps, whenstraight movement of the device is attempted. In contrast thereto, it isprovided when using the angular conservation of momentum to make use ofan angular momentum component acting on the base in such a way that anend of the device serves as an axis of rotation to a certain extent, andin such a way that it is “loaded” by a surface-parallel angular momentumcomponent acting on the base. In the next step an opposite end of thedevice can serve as an axis of rotation and an oppositely alignedangular momentum acting on the base, i.e. a component standingperpendicular to the surface, can be used for a corresponding secondstep. The device would move forward in this case, for example with aright and a left side alternating stepwise and in each case rotatingabout the other side. The angular momentum components can be generatedeither by tilting rotating gyroscopes or—less preferably—by acceleratingor braking such gyroscopes.

Moreover, the device according to the invention need not necessarily befree of other drive or steering influences. By way of example, in thecase of the preferred application as a cleaning device, it can also bedesired to provide an exertion of influence of an operator on themovement, for example by applying a style or manner or control forsteering or additionally for supporting movement. A motor-driven wiperwith style or manner or control would make it easier for cleaning staffon one hand to push the wiper over the surface to be cleaned, while onthe other hand the wiper could also be very much heavier and thus moreeffective with respect to the cleaning action than a conventionalmanually operated wiper. However, an autonomous and automatically movedcleaning device with the above-mentioned inertia drive is preferred.

Other features which are considered as characteristic for the inventionare set forth in the appended claims.

Although the invention is illustrated and described herein as embodiedin a cleaning unit with a base station and a process for treatingfloors, it is nevertheless not intended to be limited to the detailsshown, since various modifications and structural changes may be madetherein without departing from the spirit of the invention and withinthe scope and range of equivalents of the claims.

The construction and method of operation of the invention, however,together with additional objects and advantages thereof will be bestunderstood from the following description of specific embodiments whenread in connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a highly diagrammatic, elevational view illustrating theprinciple of an inertia drive according to the invention;

FIG. 2 is a view similar to FIG. 1 illustrating the principle of avariant of the device of FIG. 1;

FIG. 3 is an elevational view of a wiping device according to theinvention with an alternative inertia drive;

FIG. 4 shows the wiping device of FIG. 3 in another state of movement;

FIG. 5 shows an alternative to the wiping device of FIGS. 3 and 4;

FIG. 6 is a fragmentary, top-plan view of a portion of FIGS. 3, 4 and 5;

FIG. 7 is a diagrammatic illustration of a further alternative inertiadrive;

FIG. 8 is a plan view showing yet another diagrammatic illustration ofan alternative inertia drive;

FIG. 9 is an elevational view of an example of a wheel drive;

FIG. 10 is an exploded, front-elevational view of a wiping device;

FIG. 11 is an elevational view illustrating the principle of a basestation according to the invention;

FIG. 12 is a more detailed side-elevational view of a base stationaccording to the invention;

FIG. 13 is an enlarged, fragmentary view of a portion of FIG. 12;

FIG. 14 is an elevational view showing further details of a base stationaccording to the invention; and

FIG. 15 is an elevational view showing additional details of a basestation according to the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to the figures of the drawings in detail and first,particularly, to FIG. 1 thereof, there is seen a highly diagrammaticillustration of the principle of an inertia, flywheel, centrifugal orgyrating drive according to the invention. In FIG. 1 a wiping device formoist wiping and thus cleaning of floors in a household or in otherinside rooms is designated with reference numeral 1. The wiping device 1is illustrated in FIG. 1 as having a base 1′ in the from of a simplebox. The wiping device 1 lies on a floor 2 and faces the latter with awiping surface 3.

An inertial or centrifugal mass 4, which is provided in the wipingdevice 1 and is only symbolically illustrated in this case, is disposedin such a way as to be movable and horizontal in a manner that is notillustrated in greater detail. In the present case, as is likewise onlysymbolically illustrated, the inertial or gyrating mass 4 is powered bya lever system 5 from a drive motor 6 and against the force of a spring7. The drive motor 6 thus tensions the spring 7 to the right to acertain point, whereupon a release mechanism decouples the inertial orflywheel mass 4 from the force of the drive motor or releases the drivemotor 6. At this point the spring 7 can accelerate the inertial mass 4relatively quickly and to the left in FIG. 1. During this accelerationphase, a reaction force results on the base, i.e. the remainder of thewiping device 1, which accelerates the wiping device 1 to the rightagainst static friction between the wiping surface 3 and the floor 2, asseen in FIG. 1.

Due to the sliding friction between the wiping surface 3 and the floor2, this movement is braked again after a certain glide path. The spring7 has in the meantime further pushed the inertial mass 4 away, so thatthe drive motor 6 can move the inertial mass 4 to the right againthrough the lever system 5 to tension the spring 7. At the same timethis results in such little acceleration of the inertial mass 4 to theright that tensioning of the spring 7 does not lead to complementaryjerky movement of the wiping device 1 to the left. With iterativerepetition of the above-described procedure, the wiping device 1therefore skids to the right step-by-step between the wiping surface 3and the floor 2 as the static friction is overcome. This accordinglyexplains the basic principle of the inertia drive, and in particularwith respect to a linear movement of the inertial mass 4 according to amodel example.

Alternatively, the movement of the inertial mass 4 could be used by thedrive motor 6 as an inertial mass movement for the movement phase. Thewiping device 1 would then therefore be moved step-by-step to the left.The spring 7 would be utilized in that case only as an energy storagedevice to return the inertial mass 4 to the starting position forrenewed acceleration by the drive motor 6. The spring 7 representsenergy storage of any type, which could also be electric (capacitors),for example. It should be noted that the energy for returning themovement does not necessarily have to originate from the drive motor 6.

FIG. 2 shows a very similar model, in which the same reference numeralsare used as in FIG. 1. The difference between the mechanics illustratedin FIG. 2 and those in FIG. 1 is in a tilting of the movement path ofthe inertial mass 4 relative to the horizontal about an angle α. Theresult thereof is that during acceleration of the inertial mass 4 by thespring 7, a reaction force or a recoil power acts on the wiping device1, and this force is likewise tilted about the angle α relative to thehorizontal. It therefore has a component acting against gravitationalforce. Therefore, not only a horizontal impulse directed to the rightbut also an impulse directed vertically upwards, act on the center ofgravity of the wiping device 1. In concrete terms, the wiping device 1becomes lighter in this movement phase, i.e. the resulting forceeffective for the friction between the wiping surface 3 and the floor 2lessens. In this case, it should be pointed out that due to the layoutof the inertia drive, influence can be made not only by intermittentlygreater and lesser deceleration and acceleration, but also through thedirection thereof as to when the static friction is overcome and when itis not.

A further alternative to the functions illustrated by way of FIGS. 1 and2 is to have the inertial mass 4 and the spring 7 describeself-oscillation as in a linear oscillator through the use of the drivemotor 6, and preferably in a state close to resonance. In the variant ofFIG. 2 which is inclined about the angle α, the desired adhesion phasesand slide movement phases consequently result in a different influenceon the static friction at the two return points of this oscillation. Inthe variant of FIG. 1, the inertial mass 4 could, for example, be brakedrelatively hard at one of the two return points, for example by anon-illustrated elastic wall or another comparatively harder spring.This would then result in correspondingly large deceleration forces,with which the static friction can be overcome.

FIG. 3 illustrates another embodiment of an inertia drive. In this case,two inertial masses 4 a and 4 b are provided and mounted eccentricallyand pivoting. Reference numerals 8 a and 8 b designate axes of rotationof their rotary movement. At the same time both inertial masses 4 a and4 b rotate synchronously and in opposite directions. It is evident thatthe rotation planes and the axes of rotation 8 a and 8 b are inclined.The synchronous rotary movements of the inertial masses 4 a and 4 b arein each case isochronous in the uppermost (shown in FIG. 3) and in eachcase the lowermost vertex. In the uppermost vertex the centrifugalforces are thus added to a gravitation-reducing vertical component and ahorizontal component. The horizontal components are in each casedesignated by reference symbol F₁ and the vertical components are ineach case designated by reference symbol F₂. The canted centrifugalforce is designated by reference symbol F_(Z). The centrifugal force canthus move the wiping device, which is designated herein by referencenumeral 9 by a specific slide path to the right. The wiping device 9 hasa wiping surface 9.1. The wiping device 9 is provided with a wipingcloth 9.1. In the lowest vertex of the rotation paths of the inertialmasses 4 a and 4 b in each case the centrifugal forces are also added,however in this case they reinforce the essential force of the wipingdevice 9 and the vertical component of centrifugal force with respect tothe static friction force resulting from gravity. The inertial forcesare compensated at least partially in the remaining area of therespective paths through opposite rotation of the two inertial masses 4a and 4 b, so that the static friction likewise is not exceeded there.The slide phase relates rather only to a specific temporal environmentof the state in FIG. 3. Appropriate construction, i.e. matching betweenthe friction coefficients, the masses, radii and speeds as well as pathtilting angles of the inertial masses 4 a and 4 b, can result in thewiping device 9 lying straight in these deepest vertices as a result ofstatic friction. In this embodiment the iterative glide phases cantherefore be achieved by continuous circular movement of the inertialmasses.

FIG. 4 shows the idle phase. In this case, the inertial masses are ineach case in the deepest vertex of the respective circular movement.

FIG. 5 shows yet another wiping device 10 with a base 10′ and an inertiadrive, which is only symbolically illustrated in this case and whichcorresponds to the description given for FIGS. 3 and 4. An electroniccontrol 11 with a microprocessor for programming the wiping device, astorage device, an assessment device for position and accelerationsensors or for collision sensors, disposed on side edges of the wipingdevice 10, although not illustrated, as well as electronics formonitoring power electronics, which are designated by reference numeral12 and controlling charging and discharging procedures of electricalstorage batteries and a motor drive of the inertial masses 4 a and 4 b,are also symbolically illustrated. One of skill in the art is fullyfamiliar with the electrotechnical details of such a control. The focusof the invention herein is rather on the functioning of the inertiadrive.

In the illustrated state, the wiping device 10 of FIG. 5 furthermore notonly has on its underside a wiping cloth 13 with an underside whichforms a temporarily used wiping surface, but on its upper side it has afurther unused wiping cloth 14. The wiping cloth of the wiping device 10can therefore either be reversed by the user by hand, or by a basestation described in detail below, to be able to wipe further with thesecond wiping cloth 14, if the first wiping cloth 13 is soiled or worn.The wiping device illustrated in this case has a numerical ratio at theedges in projection on the floor of approximately over 3:1. This allowsnarrow interstices to be thoroughly cleaned on one hand, and achieveseffective web widths on large surfaces on the other hand.

FIG. 6 is a plan view which illustrates a cardanic configuration of theinertial masses 4 a and 4 b of FIGS. 3 to 5. A “fixed” base of thecorresponding wiping device is indicated by reference numerals 9′ and10′. The direction of sight is from above onto the floor plane. A firstrotating shaft 15 holds a first cardanic ring 16, on which a secondrotating shaft 17 is applied, which is shifted relative to the firstrotating shaft 15 by 90°. The second rotating shaft 17 holds a secondcardanic ring 18, on which the respective inertial mass 4 a or 4 b ispivotally mounted about the axis of rotation 8 a to 8 b. The motor driveunit of the respective inertial mass 4 a or 4 b is preferably providedby electromotors provided in the cardan bearings or through flexibleshafts, which are advanced by motors attached solidly to the base 9, 10,but which are not illustrated. The cardanic configuration with theshafts 15 and 17 can likewise be adjusted by (non-illustrated)servomotors through a lever system with levers set on the rings 16, 18on the respective rotating shaft 15 or 17.

It follows along with the description of FIGS. 3 to 5 given above, thatthe wiping device 9, 10 can adapt to different friction ratios betweenrespective wiping cloths or other wiping surfaces and different floors,even when these are dependent on direction, by adjusting the rotationspeeds and the rotation planes. In particular, the electronic control 11can detect when the wiping device 9, 10 is moved and for example throughincreasing tilting of the rotation planes can strive for a state inwhich the static friction is overcome phasewise but still prevailsphasewise. In addition, the wiping device 9 and 10 can be moved in anyhorizontal direction as a result of the cardanic bearing configuration.It can easily also be imagined that turning the wiping device 9, 10about a vertical axis can be attained by separate control of therotation planes and/or the rotation phases of the two inertial masses 4a and 4 b, in that the centrifugal force of the inertial masses isreversed at a maximal gravitation-reducing vertical component orsuperpositions with gravitation on both sides are different. Anysuperpositions from rotational movements and translatory movements cannaturally also be achieved.

In order to provide an angular momentum drive, gyroscopes with aconcentric center of gravity would have to be envisaged in FIG. 3 and inthe following figures instead of the eccentrically suspended inertialmasses. Their angular momentum could lie, for example, substantiallyhorizontally and could act, through jerky changes relative to theoriginal position, as angular momentum acting on the base with avertical direction. This vertical angular momentum could turn a part ofthe wiping device. If at the same time an angular momentum componentwith horizontal direction provides for weighting an end, this couldserve as an axis of rotation for a swiveling movement of the wipingdevice. Thereafter a further step could be made with reverse directionand at the corresponding other end of the wiping device with weighting,also resulting in this case in an iterative progressive motionpossibility. The drives described are all disposed within and thus abovethe wiping surface.

FIG. 7 shows a further rotary movement of an inertial mass 19. Theinertial mass 19 is connected eccentrically in a planet wheel 20, inwhich the center of gravity is designated by reference numeral 21. Theplanet wheel 20 runs on a fixed sun wheel 22. The middle point of theplanet wheel describes a circular trajectory, however the center ofgravity 21 describes an elliptical path 23 indicated in dashed lines. Inthe present case it can be envisaged that a rotating shaft of the planetwheel 20 is driven by a belt drive designated by reference numeral 24.FIG. 7 helps to clarify the fact that centrifugal force of varyingmagnitudes at different times can be achieved with the curve of thecenter of gravity of the inertial mass. Apart from this, the path speeditself of the inertial mass can naturally also be accelerated ordecelerated in its path movement. In addition, the above-mentionedpossibilities of mutual compensation of inertial forces of two or moreinertial masses are taken into consideration.

As a result of aligning the longitudinal axis of the elliptical path inFIG. 7, this drive unit would already produce an inertial drive evenwithout canting the path plane and with only one inertial mass 19.

FIG. 8 shows a further example illustrating the principle of apossibility of an inertia drive. A wiping device shown in plan view isindicated diagrammatically by reference numeral 25 and has a base 25′.Within a bearing 26 provided in the wiping device 25 is an eccentricsickle-shaped inertial mass 27 that is guided for rotation. A movementof the inertial mass 27 can be achieved by a lever system (double crankwith link) 28 through a motor connected at a point 29. This movement isuneven with uniform motor speed and correspondingly also leads to aninertial drive of the wiping device 25 with glide phases and adhesionphases.

FIG. 9 shows an alternative drive, which is not an inertia drive. Inthis case, a wheel drive which is provided inside a wiping device 30having a base 30′ is disposed inside the wiping surface (as is seen inthe plan view of the wiping device 30 of FIG. 9), in which two wheels 31and 32 can be driven independently of one another and can be turnedrelative to the wiping device 30. The wheels are shown in two differentpositions, however there are two wheels in all. The wiping device 30with its wiping surface can thereby be transported across the floor,whereby any direction of movement as well as rotations of the wipingdevice 30 about its own axis can be achieved by way of differences inspeed between the wheels 31 and 32 and by a motor adjustment of theangles of the axis of rotation of the wheels 31 and 32 relative to thewiping device 30. At the same time it must be ensured that a positive orforce-locking between the wheels 31 and 32 and the floor is adequatelyhigh in relation to the slide friction of the wiping surface.

FIG. 9 shows in particular that with this drive unit a configurationinside the wiping surface is also possible and tracks appearing on thefloor which are possibly caused by the wheels 31 and 32 can be wipedaway later independently of the direction of movement. The wipingsurface is namely a surface closed in around the drive unit.

In particular, in connection with the wheel drive, it can be providedfor the wiping surface to oscillate relative to the rotation of thedrive unit or in some other way, in order to heighten the mechanicalcleaning action. An inertial mass can also be used for this purpose. Inaddition, the inertia drives can naturally be correspondinglysupplemented in the different examples.

FIG. 10 is a front view of a wiping device 33 having a base 33′, whichhas a wiping cloth 34 projecting over the lateral edge of the actualwiping device 33. This wiping cloth 34 acts as an edge protection andalso delimits the dimensions of the wiping device 33 in projection ontothe floor. This allows, in particular, especially efficient wiping alongwall edges, without the danger of damage as a result of an impact to thewiping device 33. The wiping devices according to the invention cannaturally and correspondingly also have impact protection edgesindependently of wiping cloths, which additionally can take on sensorytasks in order to inform the above-mentioned electronic control 11 of acollision with an obstacle.

FIG. 11 is a cross-sectional view taken along the line of sight of FIG.10, illustrating the principle of a base station 35 according to theinvention for regenerating the wiping device 33. The wiping device 33with the wiping cloth 34 is guided between squeezing rollers 36, 37, 38.The distance between the squeezing rollers 36 and 37 as well as betweenthe squeezing rollers 38 and 37 is adjustable, so that the force, withwhich the wiping cloth 34 is squeezed out, can be determined in anappropriate manner. The squeezing rollers 38 press on the wiping device33 itself and the squeezing rollers 36 press on the projecting edges ofthe wiping cloth 34, with the squeezing rollers 37 forming a counterbearing at the same time. The squeezed cleaning fluid flows awaydownwards as indicated.

FIG. 12 shows a somewhat more concrete embodiment for the base station,which is designated herein by reference numeral 39. The wiping device 33of FIG. 10 or, for example, the wiping device 10 of FIG. 5 or the wipingdevice 9 of FIG. 3, can be driven through the use of its own drive intoa position illustrated to the left in FIG. 12. There they are gripped bytwo levers 40, which can be tilted by a motor as illustrated. At thesame time spring-loaded pins, which are explained in greater detailbelow, are latched behind undercuts in grooves 41 seen in FIG. 12 inrespective front regions of longitudinal sides of the wiping device 33.The lever 40 can thus grip the wiping device 33 and can lift and tilt itin the illustrated manner, so that the front end of the wiping device 33is guided in between squeezing rollers 42 and 43. The squeezing rollers42 and 43 draw the wiping device 33 further obliquely upwards, wherebythe pilot pins unlatch from catches and instead run on in the grooves 41as a guide. The wiping device 33 is transported in this way to anoblique plane 44, whereby the squeezing rollers 42 and 43 squeeze outany residual moisture remaining in the wiping cloth 34.

The draining cleaning fluid flows away through a continuous filter 45into a waste-water reservoir 46, from which correspondingly cleanedcleaning fluid is supplied via the filter 45 through the use of a pump47 to a nozzle 48, which then sprays the cleaning fluid to improvecleaning prior to squeezing out and/or when the wiping device 33 returnsto the wiping cloth 34. The transport of the wiping device 33 is alsosupported by an additional transport roller 49. A fresh-water reservoir50 which is also provided contains, for example, clear fresh water forsubsequent wiping and for rinsing and accordingly can be attached to thenozzle 48 in a non-illustrated manner. The cleaning unit can carry outmultiple, first wet and then dry wiping in the manner already described.

The oblique movement of the wiping device 33 on the plane 44 enableseasy transport of the wiping device 33 through the use of themotor-driven lever 40 into the base station 39. The underside and thusthe wiping cloth 34 of the wiping device 33 become accessible and spaceis made for the above components under the plane 44. A hydraulic unit onthe continuous filter 45, the waste-water reservoir 46 and the nozzle 48as well as the fresh-water reservoir 50 can be removed in their entiretyas a module.

The distances between the rollers 42 and 49 relative to the roller 43are also adjustable for ensuring optimal squeezing out and adequatepositive or force-locking for transport. This means that the residualmoisture in the cleaning cloth 34 can also be adjusted. The adjustmentcan be carried out, for example, by eccentric cams in rotating shaftbearings.

FIG. 13 illustrates the above-mentioned latch mechanism for gripping thewiping device 33 by the lever 40. The end of one of the two levers 40,which is seen at the lower left, carries a pin 52 spring-loaded by aspring 51. It should be noted that FIG. 13 is laterally transposed ascompared to FIG. 12. Therefore, it is seen that in its initial region,in the vicinity of its right end in FIG. 12 and left end in FIG. 13, theabove-mentioned groove 41 has an undercut 53, in which the pin 52 canlatch. Locking in place is facilitated by a bevel 54 at the front of thegroove 41. Unlocking from the undercut can occur either through asimilar bevel through the use of the forces exerted by the squeezingrollers 42 and 43 or through the use of further mechanical uncoupling,which is indicated herein by a motor-driven fork 55. The fork can graspthe pin 52 and draw it out from the undercut 53. Thereafter the pin 52glides along the groove 41 as a guide. Elements 52 and 53 togetherprovide a pick-up cooperating with the lever 40 to raise the mobiledevice 33.

There are also other possibilities, of course, to transport the wipingdevice 33 motor-driven into a base station, possibly through portals,cranes, elevators, chain drives, pull ropes and the like. In particular,a base station can also be constructed to turn a wiping device with twowiping cloths (see FIG. 5) through 180°.

FIG. 14 diagrammatically shows that in a second compartment the basestation 39 can also serve for changing the wiping cloth 34. FIG. 14shows how the wiping cloth 34 is pulled out by two rollers 56 and 57from inclined closures (which are not illustrated in greater detail) onthe lower face of the wiping device 33 and laid into a container 58.FIG. 15 shows, in reverse order, how the wiping cloth 34 or a freshwiping cloth 34 can be removed by a press roller 59 from a container 60and applied to an adhesive closure. With both procedures transport ofthe wiping device 33 comparable to the explanations regarding FIG. 12takes place in an oblique direction. Lever mechanics corresponding tothe explanations of FIG. 12 can also be employed.

The different motor-actuated movement steps in the base station 39 canbe controlled by light barriers or similar sensors. As soon as thewiping device 33 is grasped, the typical current flows of the connectedelectromotors can also be utilized to draw conclusions about therespective movement phases.

Optical evaluations of the degree of contamination of the floor, of thewiping cloth, the cleaning fluid in the wiping cloth or in the container46, of the degree of contamination of the filter 45 and similar factors,can be used, as already mentioned.

In addition to this, the base station 39 can be programmable forinputting specific residual moistures, cleaning cycles, wiping clothdata and the like. Wiping cloths may also contain transponders, whichare read out into the base station.

The electronic control 11 of the wiping device, which can also bereprogrammed by electronic control of the base station, can control thewiping device (in whichever actual construction) under consideration ofknown data or data of room dimensions and floor characteristics gatheredon earlier runs. The user can also specify the rooms to be cleaned andthus call up known data sets or respectively input essential features ofsuch rooms. In addition, the wiping device can perform automaticpositioning, by known odometric processes, in that the movementdistances and directions are ascertained and thus the current positionsare determined. Ascertaining position can naturally also occur by someother manner, for example by laser measuring systems.

The wiping runs are preferably S-shaped with a preferably identicalforward-lying lengthways edge. In this way large surfaces can be cleanedwith few runs and minimal overlapping of the acquired web widths. Theabove-described movement with a constant leading edge effectivelyprevents dirt streaks from being deposited in curves or corners.

1. A unit for treating floors, the unit comprising: a motor-drivenmobile device; and a base station for replenishing said mobile device,said base station having a motor-driven transporting device fortransporting said mobile device into said base station for replenishingsaid mobile device and for transporting said mobile device out of saidbase station.
 2. The unit according to claim 1, wherein said mobiledevice has a wiping cloth to be replenished, cleaned or exchanged. 3.The unit according to claim 1, wherein said mobile device has a storagebattery to be charged.
 4. The unit according to claim 1, wherein saidbase station has an oblique plane, and said transporting devicetransports said mobile device onto said oblique plane.
 5. The unitaccording to claim 1, wherein said transporting device of said basestation has at least one lever for gripping said mobile device totransport said mobile device into and out of said base station.
 6. Theunit according to claim 5, which further comprises a pick-up cooperatingwith said lever to raise said mobile device being transported in and tothen release said mobile device, for guiding said mobile device withfurther transport into said base station.
 7. The unit according to claim2, wherein said base station has a squeezing roller, and said basestation guides said mobile device over said squeezing roller to wringout said wiping cloth.
 8. The unit according to claim 7, wherein saidbase station wets said mobile device before and/or after wringing out byspraying with cleaning fluid.
 9. The unit according to claim 8, whereinsaid base station has a filter for the cleaning fluid and reuses thecleaning fluid recovered by wringing out said wiping cloth aftercleaning by said filter.
 10. The unit according to claim 2, wherein saidmobile device has an adhesive closure disposed thereon, and said basestation exchanges said wiping cloth by taking said wiping cloth off saidadhesive closure and applying a new wiping cloth to said adhesiveclosure.
 11. The unit according to claim 1, wherein said mobile devicehas a wiping surface for wiping floors over a web width covered by saidwiping surface, a drive unit moves said mobile device, and said driveunit lies inside said web width during movement of said mobile device bysaid drive unit.
 12. The unit according to claim 1, wherein: said mobiledevice has a base and a drive unit with a motor-driven inertial massmovable relative to said base; said drive unit drives said mobile deviceby executing movements of said inertial mass relative to said base; saiddrive unit overcomes static friction holding said mobile device on thefloor by mass inertia of said inertial mass in a part of said movementsof said inertial mass, and said drive unit does not overcome staticfriction holding said mobile device on the floor in another part of saidmovements of said inertial mass; and said movements of said inertialmass relative to said base are altogether iterative.
 13. A process fortreating floors with a unit, which comprises the following steps:transporting said mobile device according to claim 1 into said basestation with said motor-driven transporting device of said base station,for replenishing said mobile device; and transporting said mobile deviceout of said base station with said motor-driven transporting device ofsaid base station.